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user:~$ ros2 topic info /set_clean_mode
Type: create_msgs/msg/CleanMode
Publisher count: 0
Subscription count: 1
user:~$ ros2 interface show create_msgs/msg/CleanMode
#uint8 CLEAN_MODE_NONE=0
#uint8 CLEAN_MODE_DEFAULT=1
#uint8 CLEAN_MODE_MAX=2
#uint8 CLEAN_MODE_SPOT=3
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
uint8 mode
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Also i wanted to inform that i used the driver with a Roomba 650 and it worked as it should, did not find any error. |
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Added the topic /set_clean_mode which allows to start the normal cleaning operations. Can be started for example with:
ros2 topic pub --once /set_clean_mode create_msgs/msg/CleanMode "{mode: 1}"after this operation it may be needed to set the controll again to full mode:
ros2 topic pub -r 1 /mode create_msgs/msg/Mode "{mode: 3}"ros2 topic info /set_clean_mode
Type: create_msgs/msg/CleanMode
Publisher count: 0
Subscription count: 1
ros2 interface show create_msgs/msg/CleanMode
#uint8 CLEAN_MODE_NONE=0
#uint8 CLEAN_MODE_DEFAULT=1
#uint8 CLEAN_MODE_MAX=2
#uint8 CLEAN_MODE_SPOT=3
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
uint8 mode